How to get /PoseWithCovarianceStamped from /odom

asked 2018-03-01 19:49:11 -0600

Andreluizfc gravatar image


I was wondering how is it possible to feed amcl package with /geometry_msgs/PoseWithCovarianceStamped, since the most odometry packages publishes nav_msgs/Odometry. Is there any way or code to get /geometry_msgs/PoseWithCovarianceStamped from nav_msgs/Odometry ? Thanks a lot! Cheers,

André Castro.

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I don't see an input topic on the AMCL wiki page that would want a continuous stream of new input from odometry. Why do you want to do this?

ahendrix gravatar image ahendrix  ( 2018-03-01 21:40:28 -0600 )edit

I guess he thought that amcl reads the position from nav_msgs/Odometry while it uses tf.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2018-03-02 04:55:45 -0600 )edit

Ok. What I've seen on AMCL, it needs an initialpose input, with type as geometry_msgs/PoseWithCovarianceStamped. It's just to start, right? I was wondering if I can get that initial pose from odometry. If not, how to set up this pose?

Andreluizfc gravatar image Andreluizfc  ( 2018-03-02 09:00:17 -0600 )edit